This paper introduces a novel baseline tau vector field (BτVF) method to provide four-dimensional (4D) guidance in time-constrained waypoint arrival tasks of Unmanned Aerial Vehicle (UAV). To guide a UAV to reach the desired position with expected speed at the certain arrival time, the bio-inspired tau guidance laws are adopted to design the vector guidance field. The UAV guided by $\mathrm{B}\tau\text{VF}$ can approach the baseline between two waypoints, and more importantly, the vehicle can arrive at the destination with strict time and velocity constraints of 4D flight tasks. A challenging 4D waypoint arrival dynamic simulation is designed for rotor UAV and solved by the proposed $\mathrm{B}\tau\text{VF}$ method. The simulation result demonstrates that the proposed method can provide 4D guidance between waypoints efficiently and effectively.


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    Title :

    4D UAV Waypoint Arrival Guidance Based on Baseline Tau Vector Field


    Contributors:
    Yang, Zuqiang (author) / Zeng, Honggang (author) / He, Xingxiu (author) / Qi, Weicheng (author)


    Publication date :

    2023-03-24


    Size :

    1430846 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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